EP2651252A1 - Procede et dispositif de conditionnement et de coupe en continu de bananes - Google Patents
Procede et dispositif de conditionnement et de coupe en continu de bananesInfo
- Publication number
- EP2651252A1 EP2651252A1 EP11817359.0A EP11817359A EP2651252A1 EP 2651252 A1 EP2651252 A1 EP 2651252A1 EP 11817359 A EP11817359 A EP 11817359A EP 2651252 A1 EP2651252 A1 EP 2651252A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- bananas
- banana
- pad
- cutting
- cut
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 235000021015 bananas Nutrition 0.000 title claims abstract description 77
- 238000005520 cutting process Methods 0.000 title claims abstract description 42
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000004806 packaging method and process Methods 0.000 title claims description 13
- 240000005561 Musa balbisiana Species 0.000 title 1
- 241000234295 Musa Species 0.000 claims abstract description 132
- 235000018290 Musa x paradisiaca Nutrition 0.000 claims abstract description 57
- 238000009434 installation Methods 0.000 claims description 7
- 230000002538 fungal effect Effects 0.000 claims description 3
- 238000005406 washing Methods 0.000 claims description 3
- 235000005911 diet Nutrition 0.000 description 5
- 230000037213 diet Effects 0.000 description 5
- 235000013399 edible fruits Nutrition 0.000 description 4
- 244000144730 Amygdalus persica Species 0.000 description 1
- 244000141359 Malus pumila Species 0.000 description 1
- 235000006040 Prunus persica var persica Nutrition 0.000 description 1
- 241000220324 Pyrus Species 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 235000021017 pears Nutrition 0.000 description 1
- 235000021018 plums Nutrition 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 229920006300 shrink film Polymers 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
- A23N15/02—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs for stemming, piercing, or stripping fruit; Removing sprouts of potatoes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0045—Manipulators used in the food industry
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/007—Control means comprising cameras, vision or image processing systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D3/00—Cutting work characterised by the nature of the cut made; Apparatus therefor
- B26D3/24—Cutting work characterised by the nature of the cut made; Apparatus therefor to obtain segments other than slices, e.g. cutting pies
- B26D3/26—Cutting work characterised by the nature of the cut made; Apparatus therefor to obtain segments other than slices, e.g. cutting pies specially adapted for cutting fruit or vegetables, e.g. for onions
Definitions
- the invention relates to the technical field of continuous packaging of food products and more particularly of the fruits harvested in the form of clusters or legs.
- the invention finds a particularly advantageous application for the banana bunches from which paws are made.
- bananas are in the form of a diet containing several legs of bananas.
- a diet can contain up to 300 bananas.
- the various diets are conveyed with great care at the place of treatment, in particular to be packaged to be sold, either directly or exported.
- each diet is subjected to a tiebreaker which consists of removing the styles and stigmas, then to detach from the shaft, the different legs that constitute the diet.
- Bananas, or fingers are connected by a pad at the end of their stem or peduncle.
- the leg can comprise between 30 and 40 bananas.
- the legs are then split into 2 or 3, to obtain bouquets comprising between 5 and 10 bananas for example. It is these bouquets that will be packaged, for example in crates for transport to the point of sale. By cons, at the point of sale, after unpacking, it is these bouquets, consisting of a variable number of bananas, which are sold.
- This way of operating besides the fact that it requires many manual operations and is difficult to perform, causes certain disadvantages. For example, after having made the bouquets and before their conditioning, if the operator realizes that the bouquet presents a banana with important defects, it is the whole of the bouquet which is removed from the packaging chain and put in rejection. It can of course result in significant losses.
- the object of the invention is to remedy these disadvantages in a simple, safe, effective and rational manner.
- the problem that the invention proposes to solve is to be able to sell bananas to the unit, with another objective of being able to sort them unitarily and continuously.
- the bananas of each layer are cut individually to obtain a banana whose stem remains attached to a portion of the pad;
- the invention also relates to the device for the preparation of banana legs for the purpose of obtaining, continuously and automatically, a unitary banana.
- the device comprises:
- the device comprises means for positioning and transferring a layer of bananas to the cutting station of bananas.
- the device comprises means for controlling each cut banana.
- the means capable of separating the bouquet into two parts consist of a rectilinear support member profiled in cross section to spread symmetrically. both parts from the pad for subjecting it to the cutter.
- the cutting member is a blade adapted to be engaged in a slot formed in the thickness of the support and protruding at the pad. It is important to stress that at this stage of processing, bananas are no longer in the form of bouquets constituting by definition a volumetric form, but in the form of layers making it possible to arrange the bananas substantially in the same plane, which is proves important for further operations.
- the cutting blade is subject to means for being angularly displaced from below the carrier in a downward movement. According to the invention, after having obtained and conditioned the bananas in the form of layers, it is necessary to separate them from the remaining portion of the pad, always having the objective that after separation, each banana rod remains attached to a portion of the pad. In other words, at this level, the cut should be made only at the level of the pad and more particularly of the part of the pad located between two rods.
- the banana unit cutting station includes:
- control station comprises means capable of estimating the length, the height, the grade and the curvature of the considered banana, the curvature being considered from the apex to the end of the stem or peduncle, the height being that of the banana resting on its edge.
- the device comprises, the output of the cutting station cut bananas, means of distribution, unit or batch lots, said bananas towards the control station.
- the invention also relates to the installation for implementing the method and integrating the device as defined above.
- the installation includes:
- At least one station integrating the means for obtaining bouquets
- the invention also applies to the unitary banana resulting from the process according to the invention, that is to say whose rod is connected to the cut portion of the pad.
- FIG. 1 is a perspective view showing an example of a banana leg
- FIG. 2 is a perspective view showing two half-legs or bunches of bananas obtained from the leg shown in Figure 1;
- - Figure 3 shows the main steps of the process from a bouquet as shown in Figure 2;
- - Figure 4 is a partial perspective view of a portion of the device at the positioning means of the half leg or bunch of bananas for cutting at the pad;
- FIG. 5 is a view corresponding to Figure 4 showing the principle of cutting to obtain a layer
- FIG. 6 is a perspective view of an example of a means for transferring a cut banana layer according to the invention.
- FIG. 7 is a perspective view of part of the installation showing the section of a half-leg and the transfer of the layers obtained;
- FIG. 8 is a perspective view showing the positioning of the banana layer, before being subjected to the unitary cutting operation
- FIG. 9 is a schematic view showing the principle of the visual robotics system for unitary cutting
- FIG. 10 is a partial perspective view showing the means for implementing the unitary cutting device of bananas
- FIG. 1 1 shows the measuring principle of a cut banana according to the invention
- FIG. 12 is a schematic plan view of an example of a complete installation from the banana bunch feed to unit packaging of the bananas.
- FIG. 1 illustrates an example of a banana tab comprising a plurality of bananas (B) attached by their rod (T) to a pad (C).
- FIG. 2 shows two half-legs of bananas generally designated by (DP) and obtained from the tab illustrated in FIG. 1. Again, it can be seen that the different bananas (B) of each half-leg (DP) are always attached to a part (Cl) of the pad.
- An important first step of the process according to the invention is to obtain from a half-leg (DP), also known as a bouquet, at least two layers (CO) of bananas.
- layer (CO) is meant at least two bananas attached by their rod (T) to the corresponding part (C2) of the pad.
- the bananas of each layer are arranged substantially in the same plane.
- the bouquet (DP) is positioned on a means (1) to be separated into two parts, each of the parts being intended to form the layer (CO) as indicated.
- This means (1) is constituted by a rectilinear support member profiled in section to spread symmetrically the two parts from the pad (Cl) to subject them to a cutting member.
- the cutting member is a blade (2) engaged in a slot (la) formed in the thickness of the support (1) and opening at the pad (Cl).
- the cutting blade (2) is subject to means for being angularly displaced from below the support (1), for example, in a circular motion from bottom to top.
- each layer (CO) must be recovered and deposited on a conveyor or other, to be directed towards a post unitary cutting.
- a robot (3) positions a shovel (4), to support the bananas of one of the layers, without hurting the fruit.
- the cutting being performed the other layer is maintained in equilibrium by a pusher (cylinder) orientation of the pad.
- a gripper collects the layer and positions it on a conveyor (5).
- the robot (3) slides the shovel (4) under other layers with the aim of relieving the entire layer.
- the latter can then be entered manually or by another robot to be deposited on the conveyor (5) which can be in two parts (5a) and (5b) corresponding, each, to one of the layers.
- Each layer thus obtained is consequently directed by the conveyors (5a) and (5b) at a unitary cutting station of the bananas.
- this station comprises means for clamping and positioning the banana layer, so that the pad (C2) is directed upwards.
- the layer (CO) of bananas is disposed in a cradle (6) being held there by a support member (7) subject to any known and appropriate control means, the aim being to perfectly maintain in position the banana layer, especially during the cutting operation as such.
- the cutting station also has means capable of determining, in space, the positioning of the pad (C2), and bananas attached to said pad. These means are advantageously constituted by a 3D vision system (8) ( Figure 9).
- this vision system (8) is subjected to motorized means (10) to be displaced along different planes of the space, in order to ensure a sweep of the area where the bananas. More particularly, the area of the pad (C2) where the stems (T) of the bananas (B) are attached is scanned in order to obtain a three-dimensional image of this area.
- a specific 3D vision algorithm makes it possible to detect the rods, to determine the median axis of each rod and to calculate the bisector between each rod, which bisector corresponds to the cutting axis, as will be indicated in the following description. .
- the coordinates are sent to a robot (1 1) equipped with a cutting head (11a) via an Ethernet link for example.
- the robot (1 1) thus performs cutting paths to separate the bananas, the cut being effected, as indicated, at the peduncle, only between each of the rods.
- the bananas thus cut can be subjected to a control station which includes means able to estimate the length (L), the height (H), the grade and the curvature (C) of the considered banana (Figure 10).
- the curvature is considered from the apex to the end of the stem, while the height (H) corresponds to that of the banana placed on its edge ( Figure 10).
- cameras can be arranged on either side of the curvature of the banana.
- the device as described can be part of a complete treatment facility since the reception of clusters of bananas to the packaging of cut bananas. As shown in Figure 1 1, this installation essentially comprises:
- a station (13) integrating the means for obtaining bouquets;
- At least one station (14) integrating the means for obtaining at least two layers from a bouquet;
- the installation can be advantageously completed by means perfectly known to those skilled in the art, able to control the weight of bananas, and means to measure their maturity.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Food Science & Technology (AREA)
- Chemical & Material Sciences (AREA)
- Polymers & Plastics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Forests & Forestry (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
- Storage Of Fruits Or Vegetables (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1060721A FR2968896B1 (fr) | 2010-12-17 | 2010-12-17 | Procede et dispositif de conditionnement et de coupe en continu de bananes |
PCT/FR2011/053014 WO2012080677A1 (fr) | 2010-12-17 | 2011-12-16 | Procede et dispositif de conditionnement et de coupe en continu de bananes |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2651252A1 true EP2651252A1 (fr) | 2013-10-23 |
EP2651252B1 EP2651252B1 (fr) | 2017-02-08 |
Family
ID=44511798
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP11817359.0A Active EP2651252B1 (fr) | 2010-12-17 | 2011-12-16 | Procédé et dispositif de conditionnement et de coupe en continu de bananes |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP2651252B1 (fr) |
FR (1) | FR2968896B1 (fr) |
WO (1) | WO2012080677A1 (fr) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103141321B (zh) * | 2013-03-04 | 2014-08-27 | 华南农业大学 | 一种回转式香蕉落梳机 |
CN108576877B (zh) * | 2018-05-11 | 2019-11-15 | 华南农业大学 | 一种可变径自适应旋转切割式香蕉落梳刀具 |
CN109527622B (zh) * | 2018-11-01 | 2020-04-17 | 华南农业大学 | 基于恒力机构的可自适应蕉茎的香蕉落梳装置 |
CN110973670B (zh) * | 2019-12-17 | 2020-12-11 | 华南农业大学 | 基于可展机构的自适应香蕉果轴的恒力落梳刀具 |
CN112237291B (zh) * | 2020-09-27 | 2021-09-24 | 华南农业大学 | 一种自适应香蕉果穗轴的落梳切割平台 |
CN112753401B (zh) * | 2021-01-07 | 2022-03-25 | 华南农业大学 | 一种多功能香蕉落梳机 |
CN112861381B (zh) * | 2021-03-16 | 2022-11-29 | 华南农业大学 | 香蕉果穗果指振动损伤仿真结构及其构建方法、验证方法 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1514680A (en) * | 1923-02-20 | 1924-11-11 | Straub John | Tool for cutting bananas from bunches thereof |
US2746146A (en) * | 1954-01-13 | 1956-05-22 | Stephen C Schiro | Cutting tool |
FR1446445A (fr) * | 1965-06-10 | 1966-07-22 | Bananiere Caraibe Soc | Outil pour la découpe des mains de bananes |
AU503788B2 (en) * | 1976-05-10 | 1979-09-20 | Keith Lindsay | Banana dehanding machine |
US5050492A (en) * | 1989-10-10 | 1991-09-24 | Belt-Ton Grading Pty. Ltd. | Cherry splitter |
US7487719B2 (en) * | 2005-06-30 | 2009-02-10 | Chiquita Brands International, Inc. | Method for separating banana clusters into separate bananas |
-
2010
- 2010-12-17 FR FR1060721A patent/FR2968896B1/fr not_active Expired - Fee Related
-
2011
- 2011-12-16 WO PCT/FR2011/053014 patent/WO2012080677A1/fr active Application Filing
- 2011-12-16 EP EP11817359.0A patent/EP2651252B1/fr active Active
Non-Patent Citations (1)
Title |
---|
See references of WO2012080677A1 * |
Also Published As
Publication number | Publication date |
---|---|
FR2968896B1 (fr) | 2014-11-28 |
WO2012080677A1 (fr) | 2012-06-21 |
FR2968896A1 (fr) | 2012-06-22 |
EP2651252B1 (fr) | 2017-02-08 |
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